CN106443583B - Regional optical label rapid deployment method based on positioning - Google Patents
Regional optical label rapid deployment method based on positioning Download PDFInfo
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- CN106443583B CN106443583B CN201610784535.1A CN201610784535A CN106443583B CN 106443583 B CN106443583 B CN 106443583B CN 201610784535 A CN201610784535 A CN 201610784535A CN 106443583 B CN106443583 B CN 106443583B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/10009—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves
- G06K7/10019—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves resolving collision on the communication channels between simultaneously or concurrently interrogated record carriers.
- G06K7/10079—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves resolving collision on the communication channels between simultaneously or concurrently interrogated record carriers. the collision being resolved in the spatial domain, e.g. temporary shields for blindfolding the interrogator in specific directions
- G06K7/10089—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves resolving collision on the communication channels between simultaneously or concurrently interrogated record carriers. the collision being resolved in the spatial domain, e.g. temporary shields for blindfolding the interrogator in specific directions the interrogation device using at least one directional antenna or directional interrogation field to resolve the collision
- G06K7/10099—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves resolving collision on the communication channels between simultaneously or concurrently interrogated record carriers. the collision being resolved in the spatial domain, e.g. temporary shields for blindfolding the interrogator in specific directions the interrogation device using at least one directional antenna or directional interrogation field to resolve the collision the directional field being used for pinpointing the location of the record carrier, e.g. for finding or locating an RFID tag amongst a plurality of RFID tags, each RFID tag being associated with an object, e.g. for physically locating the RFID tagged object in a warehouse
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
- G06K7/1404—Methods for optical code recognition
Abstract
The invention discloses a positioning-based regional optical label rapid deployment method, which comprises the following steps: 1) initially deploying an optical label in an area to be deployed; 2) placing a plurality of robots in an area to be deployed, wherein each robot is provided with a mobile identification device based on optical label positioning; 3) the robot carries out random walk traveling in an area to be deployed, in the traveling process of the robot, mobile identification equipment based on optical label positioning on the robot positions the robot, and when the positioning is successful, the robot continues to travel; when the positioning is not successful, the robot stops moving, the area where the robot is located at present is marked as a positioning blind area, and the step 4) is executed; when the robot traverses the area to be deployed with the optical labels and no positioning blind area is found, the deployment of the optical labels is completed; 4) deploying the optical labels according to the shape of the positioning blind area, and turning to the step 3), the method can realize the deployment of the optical labels, and has no blind area.
Description
Technical Field
The invention belongs to the field of optical label application, and relates to a positioning-based regional optical label rapid deployment method.
Background
The optical label has a positioning function, and the process is that the optical label is deployed at a fixed position, and then the relative position of the equipment can be calculated by reading the optical label through the acquisition equipment, so that the purpose of positioning is achieved. The function can be used for both outdoor and indoor positioning, and particularly overcomes the problem of no GPS signal when positioning indoors. Optical label positioning firstly deploys optical labels without blind areas, in order to achieve full coverage of a positioning area and save cost, appropriate optical label distribution position deployment is needed (generally, it is considered that excessive optical label layout can improve positioning accuracy, but the cost of the optical labels and the mutual influence between the labels are increased), but due to the difference of the geometric shape, the illumination condition and the article placing structure of a working area, the deployment positions of the optical labels are different in different occasions, the deployment process is manually completed with time and labor consumption, and blind areas possibly exist to influence subsequent use, so that a method is urgently needed, the deployment of the optical labels can be realized, and the blind areas are avoided.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a positioning-based regional optical label rapid deployment method which can realize the deployment of optical labels and has no blind area.
In order to achieve the above purpose, the method for rapidly deploying the regional optical label based on positioning comprises the following steps:
1) deploying optical labels in an area to be deployed by using a grid deployment method according to an average distribution principle;
2) placing a plurality of robots in an area to be deployed, wherein each robot is provided with a mobile identification device based on optical label positioning;
3) the robot carries out random walk traveling in an area to be deployed, in the traveling process of the robot, mobile identification equipment based on optical label positioning on the robot positions the robot, and when the positioning is successful, the robot continues to travel; when the positioning is not successful, the robot stops moving, the area where the robot is located at present is marked as a positioning blind area, and the step 4) is executed; when the robot traverses the area to be deployed with the optical label and no positioning blind area is found, turning to the step 5);
4) deploying the optical labels according to the shape of the positioning blind area, and turning to the step 3);
5) and finishing the deployment of the optical label in the area to be deployed.
When the positioning dead zone is a rectangular area, the optical labels are arranged at the positions of four corners and the middle positions of four sides of the rectangular area.
When the positioning blind area is a circular area, three optical labels are uniformly deployed in the circular area.
When the positioning blind area is a triangular area, the optical labels are deployed at the positions of three corners of the triangular area.
When the optical label is deployed in the positioning blind area, when the position where the optical label needs to be deployed already deploys the optical label, the optical label is not redeployed at the position.
The mobile identification equipment based on optical label positioning obtains the distance between the robot and the optical label already deployed in the area to be deployed, and calculates the position of the robot according to the distance between the robot and the optical label already deployed in the area to be deployed, so that the robot is positioned.
The invention has the following beneficial effects:
the method for rapidly deploying the optical labels in the area based on the positioning comprises the steps of deploying the optical labels in the area to be deployed firstly, then randomly walking the area to be deployed through a plurality of robots, positioning the robots through mobile equipment based on the optical label positioning in the walking process, stopping the robots from walking when the positioning is not successful, recording the current area of the robots as a positioning blind area, deploying the optical labels by a user according to the shape of the positioning blind area until the area of the optical labels to be deployed is traversed, deploying the optical labels, finding the blind area in time, deploying the optical labels to the blind area, eliminating the blind area of the area to be deployed, and achieving rapid and convenient operation and wide application prospect.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a schematic view of the warehouse center M according to the first embodiment;
FIG. 3 is a schematic position diagram of a rectangular blind area deployment optical label;
FIG. 4 is a schematic diagram of the positions of circular blind areas with deployed optical labels;
fig. 5 is a schematic position diagram of a triangular blind area deployment optical label.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings:
referring to fig. 1, the method for rapidly deploying the optical label based on the positioning area according to the present invention includes the following steps:
1) deploying optical labels in an area to be deployed by using a grid deployment method according to an average distribution principle;
2) placing a plurality of robots in an area to be deployed, wherein each robot is provided with a mobile identification device based on optical label positioning;
3) the robot carries out random walk traveling in an area to be deployed, in the traveling process of the robot, mobile identification equipment based on optical label positioning on the robot positions the robot, and when the positioning is successful, the robot continues to travel; when the positioning is not successful, the robot stops moving, the area where the robot is located at present is marked as a positioning blind area, and the step 4) is executed; when the robot traverses the area to be deployed with the optical label and no positioning blind area is found, turning to the step 5);
4) deploying the optical labels according to the shape of the positioning blind area, and turning to the step 3);
5) and finishing the deployment of the optical label in the area to be deployed.
Referring to fig. 3, when the dead zone is a rectangular area, the optical labels are disposed at the positions of the four corners and the middle positions of the four sides of the rectangular area.
Referring to fig. 4, when the positioning blind area is a circular area, three optical labels are uniformly deployed in the circular area.
Referring to fig. 5, when the dead zone is a triangular area, the optical labels are disposed at three corners of the triangular area.
When the optical label is deployed in the positioning blind area, when the position where the optical label needs to be deployed already deploys the optical label, the optical label is not redeployed at the position.
The mobile identification equipment based on optical label positioning obtains the distance between the robot and the optical label already deployed in the area to be deployed, and calculates the position of the robot according to the distance between the robot and the optical label already deployed in the area to be deployed, so that the robot is positioned.
The optical label comprises a signal array and three positioning mark light-emitting devices, image information of the three positioning mark light-emitting devices is obtained through a camera in the mobile identification equipment for positioning the optical label, and the robot is positioned by utilizing the image information of the three positioning mark light-emitting devices according to a small hole imaging principle.
Example one
A certain large-scale storage center M adopts an optical label positioning technology, and needs to perform rapid deployment of optical labels on site, and the specific process is as follows:
firstly, acquiring a plan view of a large-scale storage center, and then distributing optical labels by using a grid deployment method according to an average distribution principle; after the layout is finished, 10 modified Koves DT-type robots with optical label positioning function are dispatched to freely walk in the area; setting each robot to perform positioning of the chance light label once every 2 seconds, if the positioning is successful, continuing to perform the positioning, and if not, stopping in place; after 5 minutes, checking the stopped robot and the stop position of the robot; analyzing the stop position of each stop robot, and performing corresponding rectangular, circular and triangular 'blind area' optical label supplement according to the shape of the position; and starting all the robots again to perform the autonomous positioning test until no 10 robots are found to stop due to positioning failure after accumulating for 6 × 5 minutes, finishing the deployment of the optical labels, recording the current positions of all the current optical labels, forming an optical label deployment distribution map, and taking the map as the final optical label deployment distribution map of M.
Claims (6)
1. A method for rapidly deploying regional optical labels based on positioning is characterized by comprising the following steps:
1) deploying an optical label in a to-be-deployed area by using a grid deployment method according to an average distribution principle, wherein the optical label comprises a signal array and three positioning mark light-emitting devices;
2) placing a plurality of robots in an area to be deployed, wherein each robot is provided with a mobile identification device based on optical label positioning, and the robots are positioned by image information of the three positioning mark light-emitting devices acquired by a camera in the mobile identification device;
3) the robot carries out random walk traveling in an area to be deployed, in the traveling process of the robot, mobile identification equipment based on optical label positioning on the robot positions the robot, and when the positioning is successful, the robot continues to travel; when the positioning is not successful, the robot stops moving, the area where the robot is located at present is marked as a positioning blind area, and the step 4) is executed; when the robot traverses the area to be deployed with the optical label and no positioning blind area is found, turning to the step 5);
4) deploying the optical labels according to the shape of the positioning blind area, and turning to the step 3);
5) and finishing the deployment of the optical label in the area to be deployed.
2. The method as claimed in claim 1, wherein when the dead zone is a rectangular area, the optical labels are disposed at four corners and the middle of the four sides of the rectangular area.
3. The method for rapid deployment of regional optical labels based on positioning as claimed in claim 1, wherein when the dead zone is a circular region, three optical labels are deployed uniformly in the circular region.
4. The method as claimed in claim 1, wherein when the dead zone is a triangular area, the optical labels are deployed at three corners of the triangular area.
5. The method for rapid deployment of regional optical labels based on positioning as claimed in claim 2, 3 or 4, wherein when the optical labels are deployed in the positioning blind area, when the optical labels are already deployed in the position where the optical labels need to be deployed, the optical labels are not re-deployed in the position.
6. The method for area optical label rapid deployment based on positioning as claimed in claim 1, wherein the mobile identification device based on optical label positioning obtains the distance between the robot and the optical label already deployed in the area to be deployed, and calculates the position of the robot according to the distance between the robot and the optical label already deployed in the area to be deployed, so as to realize positioning of the robot.
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| CN110470312B (en) * | 2018-05-09 | 2021-11-16 | 北京外号信息技术有限公司 | Navigation method based on optical label network and corresponding computing equipment |
| CN114683266A (en) * | 2020-12-29 | 2022-07-01 | 深圳市普渡科技有限公司 | Visual sign deployment prompting method and device, computer equipment and storage medium |
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| CN104154925A (en) * | 2014-08-25 | 2014-11-19 | 正量电子科技（苏州）有限公司 | Guidance navigation method based on radio frequency identification |
| CN104640076A (en) * | 2015-02-03 | 2015-05-20 | 南京邮电大学 | Indoor positioning method based on wireless signal data fusion |
| CN105022394A (en) * | 2014-04-29 | 2015-11-04 | 东北大学 | Mobile robot reliable location method under dynamic environment |
| CN205067727U (en) * | 2015-11-03 | 2016-03-02 | 广东技术师范学院 | Service robot positioning system based on zigBee and RFID |
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| BRPI0810662A2 (en) * | 2007-04-24 | 2014-11-04 | Sicpa Holding Sa | METHOD FOR MARKING A DOCUMENT OR ITEM; METHOD AND DEVICE FOR IDENTIFYING THE MARKED DOCUMENT OR ITEM; USE OF CIRCULAR POLARIZATION PARTICLES. |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105022394A (en) * | 2014-04-29 | 2015-11-04 | 东北大学 | Mobile robot reliable location method under dynamic environment |
| CN104154925A (en) * | 2014-08-25 | 2014-11-19 | 正量电子科技（苏州）有限公司 | Guidance navigation method based on radio frequency identification |
| CN104640076A (en) * | 2015-02-03 | 2015-05-20 | 南京邮电大学 | Indoor positioning method based on wireless signal data fusion |
| CN205067727U (en) * | 2015-11-03 | 2016-03-02 | 广东技术师范学院 | Service robot positioning system based on zigBee and RFID |
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Effective date of registration: 20211129 Address after: 201306 2nd floor, no.979 Yunhan Road, Lingang New Area, China (Shanghai) pilot Free Trade Zone, Pudong New Area, Shanghai Patentee after: Shanghai Guangshi fusion Intelligent Technology Co.,Ltd. Address before: 710075 Room 301, Block A, Innovation Information Building, Xi'an Software Park, No. 2 Science and Technology Road, Xi'an High-tech Zone, Shaanxi Province Patentee before: XI'AN XIAOGUANGZI NETWORK TECHNOLOGY Co.,Ltd. |